H-infinity Loop Shaping Control of Input Saturated Systems with Norm-Bounded Parametric Uncertainty

Autor(es)

Pereira, Renan Lima ; Kienitz, Karl Heinz

• Tipo de documento: Artigo Científico
• Fonte: JOURNAL OF CONTROL SCIENCE AND ENGINEERING; v. 2015, p. 9-pg., 2015-01-01.

Resumo

This paper proposes a gain-scheduling control design strategy for a class of linear systems with the presence of both input saturation constraints and norm-bounded parametric uncertainty. LMI conditions are derived in order to obtain a gain-scheduled controller that ensures the robust stability and performance of the closed loop system. The main steps to obtain such a controller are given. Differently from other gain-scheduled approaches in the literature, this one focuses on the problem of.. 8 loop shaping control design with input saturation nonlinearity and norm-bounded uncertainty to reduce the effect of the disturbance input on the controlled outputs. Here, the design problem has been formulated in the four-block.. 8 synthesis framework, in which it is possible to describe the parametric uncertainty and the input saturation nonlinearity as perturbations to normalized coprime factors of the shaped plant. As a result, the shaped plant is represented as a linear parameter-varying (LPV) system while the norm-bounded uncertainty and input saturation are incorporated. This procedure yields a linear parameter-varying structure for the controller that ensures the stability of the polytopic LPV shaped plant from the vertex property. Finally, the effectiveness of the method is illustrated through application to a physical system: a VTOL "vertical taking-off landing" helicopter. (AU)

• Processo FAPESP: 11/17610-0 - Monitoramento e controle de sistemas dinâmicos sujeitos a falhas
• Beneficiário: Roberto Kawakami Harrop Galvão
• Modalidade de apoio: Auxílio à Pesquisa - Temático